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Sounds like you most know of what you need to do. It sounds like you have an /imu_raw topics (composed of raw sensor byte outputs), you should also publish an /imu that's scaled into SI units.

The right messages are:

http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html

http://docs.ros.org/api/sensor_msgs/html/msg/MagneticField.html

http://docs.ros.org/api/sensor_msgs/html/msg/FluidPressure.html

Some available attitude filters: http://mirror.umd.edu/roswiki/imu_filter_madgwick.html

(Maybe one day once I have enough free time/consistent schedule to finish my overhaul of ROS sensor fusion package, graft:)

https://github.com/chadrockey/graft/blob/hydro-devel/test_attitude.launch

One implementation that I know works well is Androids, it wouldn't be too difficult to wrap the AOSP source in a thin ROS wrapper:

https://android.googlesource.com/platform/frameworks/base/+/fca8947f496967ac2097366672a4c725f1b9311f/services/sensorservice/Fusion.cpp

https://android.googlesource.com/platform/frameworks/base/+/fca8947f496967ac2097366672a4c725f1b9311f/services/sensorservice/Fusion.h

As for elevation, for my ROSCon talk, I just implemented a quick accumulator that smoothed the altitude offset from where I started the node. The algorithm for altitude from barometric pressure is here:

http://en.wikipedia.org/wiki/Atmospheric_pressure#Altitude_atmospheric_pressure_variation

One of these days, I'd like to see a ROS node that polls local barometric pressure references from airports using GPS.

Oh, and there are also a few miscellaneous tools here:

https://github.com/ros-perception/imu_pipeline

Sounds like you most know of what you need to do. It sounds like I take it you have an /imu_raw topics (composed of raw sensor byte outputs), you should also publish an /imu that's scaled into SI units.

The right messages are:

http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html

http://docs.ros.org/api/sensor_msgs/html/msg/MagneticField.html

http://docs.ros.org/api/sensor_msgs/html/msg/FluidPressure.html

Some available attitude filters: http://mirror.umd.edu/roswiki/imu_filter_madgwick.html

(Maybe one day once I have enough free time/consistent schedule to finish my overhaul of ROS sensor fusion package, graft:)

https://github.com/chadrockey/graft/blob/hydro-devel/test_attitude.launch

One implementation that I know works well is Androids, it wouldn't be too difficult to wrap the AOSP source in a thin ROS wrapper:

https://android.googlesource.com/platform/frameworks/base/+/fca8947f496967ac2097366672a4c725f1b9311f/services/sensorservice/Fusion.cpp

https://android.googlesource.com/platform/frameworks/base/+/fca8947f496967ac2097366672a4c725f1b9311f/services/sensorservice/Fusion.h

As for elevation, for my ROSCon talk, I just implemented a quick accumulator that smoothed the altitude offset from where I started the node. The algorithm for altitude from barometric pressure is here:

http://en.wikipedia.org/wiki/Atmospheric_pressure#Altitude_atmospheric_pressure_variation

One of these days, I'd like to see a ROS node that polls local barometric pressure references from airports using GPS.

Oh, and there are also a few miscellaneous tools here:

https://github.com/ros-perception/imu_pipeline

Sounds like you most know of what you need to do. I take it you have an /imu_raw topics (composed of raw sensor byte outputs), you should also publish an /imu that's scaled into SI units.

The right messages are:

http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html

http://docs.ros.org/api/sensor_msgs/html/msg/MagneticField.html

http://docs.ros.org/api/sensor_msgs/html/msg/FluidPressure.html

Some available attitude filters: http://mirror.umd.edu/roswiki/imu_filter_madgwick.html

http://www.youtube.com/watch?v=BXsGWoOMtmU

(Maybe one day once I have enough free time/consistent schedule to finish my overhaul of ROS sensor fusion package, graft:)

https://github.com/chadrockey/graft/blob/hydro-devel/test_attitude.launch

One implementation that I know works well is Androids, it wouldn't be too difficult to wrap the AOSP source in a thin ROS wrapper:

https://android.googlesource.com/platform/frameworks/base/+/fca8947f496967ac2097366672a4c725f1b9311f/services/sensorservice/Fusion.cpp

https://android.googlesource.com/platform/frameworks/base/+/fca8947f496967ac2097366672a4c725f1b9311f/services/sensorservice/Fusion.h

Video of Android's algorithm:

http://www.youtube.com/watch?v=C7JQ7Rpwn2k

As for elevation, for my ROSCon talk, I just implemented a quick accumulator that smoothed the altitude offset from where I started the node. The algorithm for altitude from barometric pressure is here:

http://en.wikipedia.org/wiki/Atmospheric_pressure#Altitude_atmospheric_pressure_variation

One of these days, I'd like to see a ROS node that polls local barometric pressure references from airports using GPS.

Oh, and there are also a few miscellaneous tools here:

https://github.com/ros-perception/imu_pipeline